text: #!/usr/bin/env python
  
  from math import sin
  
  import rospy
  from geometry_msgs.msg import Twist
  
  
  def main():
      rospy.init_node('faux_navigation')
      pub = rospy.Publisher('cmd_vel', Twist, queue_size=1)
      angles = []
      while not rospy.is_shutdown():
          if not angles:
              angles = [sin(x) for x in range(100)]
          linear = 1.0
          angular = angles.pop()
          log = "Sending command velocity ({0}, {1})".format(linear, angular)
          rospy.loginfo(log)
          msg = Twist()
          msg.linear.x = linear
          msg.angular.z = angular
          pub.publish(msg)
          rospy.sleep(1.0)
  
  
  if __name__ == '__main__':
      try:
          main()
      except rospy.ROSInterruptException:
          pass
  